Systems and methods for providing order fulfillment using a spiral tower system

Abstract

A storage, retrieval and processing system for processing objects is disclosed that includes a plurality of bins including objects to be distributed, the plurality of bins being provided on a conveyance system, a programmable motion device that includes an end effector for grasping and moving any of the objects, the programmable motion device being capable of reaching any of the objects within at least one of the plurality of bins in an input area of the conveyance system, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system including a routing conveyor for receiving the selected object, and for moving the selected object in each of vertical and rotational directions toward a destination container responsive to the perception data.

What is claimed is: 
     
         1 .- 28 . (canceled) 
     
     
         29 . An automated storage and retrieval system comprising:
 a first helical conveyor having a plurality of helically distributed destination container locations;   a second helical conveyor adjacent the first helical conveyor, the second helical conveyor positioned radially outward of the first helical conveyor;   a container removal system adapted to transfer a selected container at any one of the helically distributed destination container locations to the second helical conveyor;   a guide pole vertically disposed at the center of the first helical conveyor;   a routing conveyor unit having a conveyor for receiving a selected object and for discharging the selected object; and   the routing conveyor unit adapted to move vertically on the guide pole and rotationally about the guide pole to a position aligned with a selected container of the plurality of helically distributed container locations to discharge the selected object.   
     
     
         30 . The automated storage and retrieval system as claimed in  claim 29 , wherein the routing conveyor unit further comprises a first conveyor for receiving the selected object and a second conveyor for discharging the object, wherein the first conveyor moves the selected object onto the second conveyor. 
     
     
         31 . The automated storage and retrieval system as claimed in  claim 30 , wherein the second conveyor comprises a plurality of narrow conveyor sections. 
     
     
         32 . The automated storage and retrieval system as claimed in  claim 29 , wherein the first helical conveyor includes a plurality of sensors for monitoring the location of each of the plurality of helically distributed destination container locations. 
     
     
         33 . The automated storage and retrieval system as claimed in  claim 29 , wherein the second helical conveyor is freely moved by gravity. 
     
     
         34 . The automated storage and retrieval system as claimed in  claim 29 , wherein the first helical conveyor is driven to move an empty container traversing upward to replace the selected container transferred to the second helical conveyor. 
     
     
         35 . The automated storage and retrieval system as claimed in  claim 29 , wherein the container removal system comprises an actuated push plate. 
     
     
         36 . The automated storage and retrieval system as claimed in  claim 35 , wherein the actuated push plate is mounted on the routing conveyor unit. 
     
     
         37 . A method of operating an automated storage and retrieval system comprising:
 driving empty containers into a first helical conveyor to provide a plurality of destination containers;   depositing an object onto a routing conveyor unit, the routing conveyor unit adapted to traverse on a guide pole, the guide pole arranged at the center of the first helical conveyor;   traversing the guide pole with the routing conveyor unit in a vertical and rotational direction relative to the guide pole, the routing conveyor unit being disposed at a position above a selected one of the plurality of destination containers;   operating the routing conveyor to deposit the object in the selected one of the plurality of destination containers; and   moving the selected one of the plurality of destination containers from the first helical conveyor to an adjacent second helical conveyor in a radially outward direction to remove the selected one of the plurality of destination containers from the automated storage and retrieval system.   
     
     
         38 . The method as claimed in  claim 37 , further comprising driving an additional empty container into the first helical conveyor to replace the selected one of the plurality of destination containers. 
     
     
         39 . The method as claimed in  claim 37 , wherein the selected one of the plurality of destination containers moves freely down the second helical conveyor by gravity once moved thereon. 
     
     
         40 . The method as claimed in  claim 37 , wherein the step of moving the selected one of the plurality of destination containers is performed with an actuated push plate. 
     
     
         41 . The method as claimed in  claim 40 , wherein the actuated push plate is mounted on the routing conveyor unit. 
     
     
         42 . The method as claimed in  claim 41 , wherein the routing unit conveyor traverses the pole vertically and rotationally to position the actuated push plate to move the selected one of the plurality of destination containers to the second helical conveyor. 
     
     
         43 . An automated storage and retrieval system comprising:
 storage containers arranged on a continuously elevating helical storage conveyor, the continuously elevating helical storage conveyor having a central region;   a support column arranged at a center of the central region;   a routing conveyor unit adapted to traverse the column in a vertical direction and to rotate about the column to be positioned at any of a selected position above any of the storage containers;   the routing conveyor unit comprising a conveyor operable at any of the selected positions; and   a continuously elevating helical output conveyor positioned radially outward and aligned with the continuously elevating helical storage conveyor.   
     
     
         44 . The automated storage and retrieval system as claimed in  claim 43 , further comprising an actuatable push plate mounted on the routing conveyor unit to discharge any one of the storage containers arranged on the continuously elevating helical storage conveyor by moving it radially outward onto the continuously elevating helical output conveyor. 
     
     
         45 . The automated storage and retrieval system as claimed in  claim 44 , wherein the continuously elevating helical output conveyor freely rotates with any storage container discharged thereon to move by gravitational forces. 
     
     
         46 . The automated storage and retrieval system as claimed in  claim 43 , wherein the continuously elevating helical storage conveyor comprises actively powered roller elements. 
     
     
         47 . The automated storage and retrieval system as claimed in  claim 46 , wherein the actively powered roller elements have a friction surface to prevent unintended movement of the storage containers positioned thereon. 
     
     
         48 . The automated storage and retrieval system as claimed in  claim 43 , wherein the continuously elevating helical storage conveyor further comprises a plurality of sensors for monitoring a location of each of the storage containers arranged thereon.